The safest way (for the azaleas) might be to cut off the stems of poison ivy down by the ground. Paint the cut ends with an herbicide containing glyphosate so it is absorbed to the roots. You may have to repeat the treatment. Then be careful removing the vines from the shrubs, they can cause a reaction even if the foliage has fallen off. You could protect your arms and hands by using plastic bags as temporary long gloves. Put the poison ivy in the trash; do not burn it.